public double Get_polar_max(double pol_ang)
{
if (polar_Max == null)
{
return(0.001);
}
return(polar_Max.Get_y(pol_ang));
}
/// Set body-relative coord. and update auxiliary variables
/// Also, current position becomes the 'resting position' coordinates
/// for the current time.
public void Impose_Rel_Coord(ChCoordsys m_coord)
{
ChQuaternion qtemp;// = new ChQuaternion(1, 0, 0, 0);
// set the actual coordinates
FrameMoving.SetCoord(m_coord);
// set the resting position coordinates
rest_coord.pos.x = m_coord.pos.x - motion_X.Get_y(ChTime);
rest_coord.pos.y = m_coord.pos.y - motion_Y.Get_y(ChTime);
rest_coord.pos.z = m_coord.pos.z - motion_Z.Get_y(ChTime);
qtemp = ChQuaternion.Q_from_AngAxis2(-(motion_ang.Get_y(ChTime)), motion_axis);
rest_coord.rot = ChQuaternion.Qcross(m_coord.rot, qtemp); // ***%%% check
// set also the absolute positions, and other.
UpdateState();
}
public double Get_Rcurrent(double x, double x_dt, double t)
{
double mR = 0;
if (active)
{
double modulator;
if (modul_R != null)
{
modulator = modul_R.Get_y(x);
}
else
{
modulator = 1;
}
mR = R * modulator;
}
return(mR);
}
public double Get_Kcurrent(double x, double x_dt, double t)
{
double mK = 0;
if (active)
{
double modulator;
if (modul_K != null)
{
modulator = modul_K.Get_y(x);
}
else
{
modulator = 1;
}
mK = K * modulator;
}
return(mK);
}
public double Get_iFcurrent(double x, double x_dt, double t)
{
double mforce = 0;
if (active)
{
double modulator;
// the internal force contribute = iforce
if (modul_iforce != null)
{
modulator = modul_iforce.Get_y(t);
}
else
{
modulator = 1;
}
mforce = iforce * modulator;
}
return(mforce);
}
/// Inherits, then also adds the spring custom forces to the C_force and C_torque.
public override void UpdateForces(double mytime)
{
// Inherit force computation:
// also base class can add its own forces.
base.UpdateForces(mytime);
spr_react = 0.0;
ChVector m_force;
double deform = Get_SpringDeform();
spr_react = spr_f * mod_f_time.Get_y(ChTime);
spr_react -= (spr_k * mod_k_d.Get_y(deform) * mod_k_speed.Get_y(dist_dt)) * (deform);
spr_react -= (spr_r * mod_r_d.Get_y(deform) * mod_r_speed.Get_y(dist_dt)) * (dist_dt);
m_force = ChVector.Vmul(ChVector.Vnorm(relM.pos), spr_react);
C_force = ChVector.Vadd(C_force, m_force);
}
/// Updates motion laws, etc. for the impose rotation / impose speed modes
public override void UpdateTime(double mytime)
{
// First, inherit to parent class
base.UpdateTime(mytime);
if (!IsActive())
{
return;
}
// DEFAULTS compute rotation vars...
// by default for torque control..
motion_axis = ChVector.VECT_Z; // motion axis is always the marker2 Z axis (in m2 relative coords)
mot_rot = relAngle;
mot_rot_dt = ChVector.Vdot(relWvel, motion_axis);
mot_rot_dtdt = ChVector.Vdot(relWacc, motion_axis);
mot_rerot = mot_rot / mot_tau;
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
// nothing more to do here for torque control
if (eng_mode == eCh_eng_mode.ENG_MODE_TORQUE)
{
return;
}
// If LEARN MODE, just record motion
if (learn)
{
deltaC.pos = ChVector.VNULL;
deltaC_dt.pos = ChVector.VNULL;
deltaC_dtdt.pos = ChVector.VNULL;
if (!(limit_Rx.Get_active() || limit_Ry.Get_active() || limit_Rz.Get_active()))
{
deltaC.rot = ChQuaternion.QUNIT;
deltaC_dt.rot = ChQuaternion.QNULL;
deltaC_dtdt.rot = ChQuaternion.QNULL;
}
if (eng_mode == eCh_eng_mode.ENG_MODE_ROTATION)
{
if (rot_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
{
rot_funct = new ChFunction_Recorder();
}
// record point
double rec_rot = relAngle; // ***TO DO*** compute also rotations with cardano mode?
if (impose_reducer)
{
rec_rot = rec_rot / mot_tau;
}
ChFunction_Recorder rec = (ChFunction_Recorder)rot_funct;
rec.AddPoint(mytime, rec_rot, 1); // x=t
}
if (eng_mode == eCh_eng_mode.ENG_MODE_SPEED)
{
if (spe_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
{
spe_funct = new ChFunction_Recorder();
}
// record point
double rec_spe = ChVector.Vlength(relWvel); // ***TO DO*** compute also with cardano mode?
if (impose_reducer)
{
rec_spe = rec_spe / mot_tau;
}
ChFunction_Recorder rec = (ChFunction_Recorder)spe_funct;
rec.AddPoint(mytime, rec_spe, 1); // x=t
}
}
if (learn)
{
return; // no need to go on further...--.>>>
}
// Impose relative positions/speeds
deltaC.pos = ChVector.VNULL;
deltaC_dt.pos = ChVector.VNULL;
deltaC_dtdt.pos = ChVector.VNULL;
if (eng_mode == eCh_eng_mode.ENG_MODE_ROTATION)
{
if (impose_reducer)
{
mot_rerot = rot_funct.Get_y(ChTime);
mot_rerot_dt = rot_funct.Get_y_dx(ChTime);
mot_rerot_dtdt = rot_funct.Get_y_dxdx(ChTime);
mot_rot = mot_rerot * mot_tau;
mot_rot_dt = mot_rerot_dt * mot_tau;
mot_rot_dtdt = mot_rerot_dtdt * mot_tau;
}
else
{
mot_rot = rot_funct.Get_y(ChTime);
mot_rot_dt = rot_funct.Get_y_dx(ChTime);
mot_rot_dtdt = rot_funct.Get_y_dxdx(ChTime);
mot_rerot = mot_rot / mot_tau;
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
}
deltaC.rot = ChQuaternion.Q_from_AngAxis2(mot_rot, motion_axis);
deltaC_dt.rot = ChQuaternion.Qdt_from_AngAxis(deltaC.rot, mot_rot_dt, motion_axis);
deltaC_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(mot_rot_dtdt, motion_axis, deltaC.rot, deltaC_dt.rot);
}
if (eng_mode == eCh_eng_mode.ENG_MODE_SPEED)
{
if (impose_reducer)
{
mot_rerot_dt = spe_funct.Get_y(ChTime);
mot_rerot_dtdt = spe_funct.Get_y_dx(ChTime);
mot_rot_dt = mot_rerot_dt * mot_tau;
mot_rot_dtdt = mot_rerot_dtdt * mot_tau;
}
else
{
mot_rot_dt = spe_funct.Get_y(ChTime);
mot_rot_dtdt = spe_funct.Get_y_dx(ChTime);
mot_rerot_dt = mot_rot_dt / mot_tau;
mot_rerot_dtdt = mot_rot_dtdt / mot_tau;
}
deltaC.rot = ChQuaternion.Qnorm(GetRelM().rot); // just keep current position, -assume always good after integration-.
ChMatrix33 <double> relA = new ChMatrix33 <double>(0);
relA.Set_A_quaternion(GetRelM().rot); // ..but adjust to keep Z axis aligned to shaft, anyway!
ChVector displaced_z_axis = relA.Get_A_Zaxis();
ChVector adjustment = ChVector.Vcross(displaced_z_axis, ChVector.VECT_Z);
deltaC.rot = ChQuaternion.Q_from_AngAxis2(ChVector.Vlength(adjustment), ChVector.Vnorm(adjustment)) % deltaC.rot;
deltaC_dt.rot = ChQuaternion.Qdt_from_AngAxis(deltaC.rot, mot_rot_dt, motion_axis);
deltaC_dtdt.rot = ChQuaternion.Qdtdt_from_AngAxis(mot_rot_dtdt, motion_axis, deltaC.rot, deltaC_dt.rot);
}
}
public double GetForce(double x, double x_dt)
{
double cush_coord;
double cush_coord_norm;
double force;
double m_min, m_max;
if (!penalty_only)
{
m_min = min;
m_max = max;
}
else
{
m_min = -999999999;
m_max = 999999999;
}
if ((x > m_min) && (x < (min + minCushion)))
{
cush_coord = (min + minCushion) - x;
if (minCushion >= 0.0000001)
{
cush_coord_norm = cush_coord / minCushion;
}
else
{
cush_coord_norm = 1;
}
if (cush_coord_norm > 1)
{
cush_coord_norm = 1; // clip cushion forces at stopper limit
}
force = cush_coord * Kmin * modul_Kmin.Get_y(cush_coord_norm);
force += (-x_dt) * Rmin * modul_Rmin.Get_y(cush_coord_norm);
if (force < 0)
{
force = 0;
} // damping could cause neg force while going away,
// so -as the limit is not "sticky"- clip force sign.
return(force);
}
if ((x < m_max) && (x > (max - maxCushion)))
{
cush_coord = x - (max - maxCushion);
if (maxCushion >= 0.0000001)
{
cush_coord_norm = cush_coord / maxCushion;
}
else
{
cush_coord_norm = 1;
}
if (cush_coord_norm > 1)
{
cush_coord_norm = 1; // clip cushion forces at stopper limit
}
force = (-cush_coord) * Kmax * modul_Kmax.Get_y(cush_coord_norm);
force += (-x_dt) * Rmax * modul_Rmax.Get_y(cush_coord_norm);
if (force > 0)
{
force = 0;
} // damping could cause pos force while going away,
// so -as the limit is not "sticky"- clip force sign.
return(force);
}
return(0);
}
// Updates motion laws, marker positions, etc.
public override void UpdateTime(double mytime)
{
// First, inherit to parent class
base.UpdateTime(mytime);
// If LEARN MODE, just record motion
if (learn)
{
/* do not change deltas, in free mode maybe that 'limit on X' changed them
* deltaC.pos = VNULL;
* deltaC_dt.pos = VNULL;
* deltaC_dtdt.pos = VNULL;
* deltaC.rot = QUNIT;
* deltaC_dt.rot = QNULL;
* deltaC_dtdt.rot = QNULL;
*/
// if (dist_funct.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
// dist_funct = new ChFunction_Recorder();
// record point
double rec_dist = ChVector.Vlength(ChVector.Vsub(marker1.GetAbsCoord().pos, marker2.GetAbsCoord().pos));
rec_dist -= offset;
// (ChFunction_Recorder)(dist_funct).AddPoint(mytime, rec_dist, 1); // (x,y,w) x=t
}
// Move (well, rotate...) marker 2 to align it in actuator direction
// ! Require that the BDF routine of marker won't handle speed and acc.calculus of the moved marker 2!
marker2.SetMotionType(ChMarker.eChMarkerMotion.M_MOTION_EXTERNAL);
// ChMatrix33<double> ma = new ChMatrix33<double>(0);
ma.Set_A_quaternion(marker2.GetAbsCoord().rot);
ChVector absdist = ChVector.Vsub(marker1.GetAbsCoord().pos, marker2.GetAbsCoord().pos);
ChVector mx = ChVector.Vnorm(absdist);
ChVector my = ma.Get_A_Yaxis();
if (ChVector.Vequal(mx, my))
{
if (mx.x == 1.0)
{
my = ChVector.VECT_Y;
}
else
{
my = ChVector.VECT_X;
}
}
ChVector mz = ChVector.Vnorm(ChVector.Vcross(mx, my));
my = ChVector.Vnorm(ChVector.Vcross(mz, mx));
ma.Set_A_axis(mx, my, mz);
ChCoordsys newmarkpos;
ChVector oldpos = marker2.FrameMoving.GetPos(); // backup to avoid numerical err.accumulation
newmarkpos.pos = marker2.GetAbsCoord().pos;
newmarkpos.rot = ma.Get_A_quaternion();
marker2.Impose_Abs_Coord(newmarkpos); // rotate "main" marker2 into tangent position (may add err.accumulation)
marker2.FrameMoving.SetPos(oldpos); // backup to avoid numerical err.accumulation
if (learn)
{
return; // no need to go on further...--.>>>
}
// imposed relative positions/speeds
deltaC.pos = ChVector.VNULL;
deltaC.pos.x = dist_funct.Get_y(ChTime) + offset; // distance is always on M2 'X' axis
deltaC_dt.pos = ChVector.VNULL;
deltaC_dt.pos.x = dist_funct.Get_y_dx(ChTime); // distance speed
deltaC_dtdt.pos = ChVector.VNULL;
deltaC_dtdt.pos.x = dist_funct.Get_y_dxdx(ChTime); // distance acceleration
// add also the centripetal acceleration if distance vector's rotating,
// as centripetal acc. of point sliding on a sphere surface.
ChVector tang_speed = GetRelM_dt().pos;
tang_speed.x = 0; // only z-y coords in relative tang speed vector
double len_absdist = ChVector.Vlength(absdist); // don't divide by zero
if (len_absdist > 1E-6)
{
deltaC_dtdt.pos.x -= Math.Pow(ChVector.Vlength(tang_speed), 2) / ChVector.Vlength(absdist); // An = Adelta -(Vt^2 / r)
}
deltaC.rot = ChQuaternion.QUNIT; // no relative rotations imposed!
deltaC_dt.rot = ChQuaternion.QNULL;
deltaC_dtdt.rot = ChQuaternion.QNULL;
// Compute motor variables
// double m_rotation;
// double m_torque;
mot_rerot = (deltaC.pos.x - offset) / mot_tau;
mot_rerot_dt = deltaC_dt.pos.x / mot_tau;
mot_rerot_dtdt = deltaC_dtdt.pos.x / mot_tau;
mot_retorque = mot_rerot_dtdt * mot_inertia + (react_force.x * mot_tau) / mot_eta;
// m_rotation = (deltaC.pos.x() - offset) / mot_tau;
// m_torque = (deltaC_dtdt.pos.x() / mot_tau) * mot_inertia + (react_force.x() * mot_tau) / mot_eta;
if (learn_torque_rotation)
{
// if (mot_torque.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
// mot_torque = new ChFunction_Recorder();
// if (mot_rot.Get_Type() != ChFunction.FunctionType.FUNCT_RECORDER)
// mot_rot = new ChFunction_Recorder();
// std::static_pointer_cast<ChFunction_Recorder>(mot_torque).AddPoint(mytime, mot_retorque, 1); // (x,y,w) x=t
// std::static_pointer_cast<ChFunction_Recorder>(mot_rot).AddPoint(mytime, mot_rerot, 1); // (x,y,w) x=t
}
}